【机械臂路径规划】基于人工势场实现机械臂路径规划附matlab代码

原创已于 2022-05-26 22:53:44 修改 · 1.7k 阅读

16 ·

CC 4.0 BY-SA版权

文章标签：

#matlab #开发语言

于 2022-05-25 18:28:14 首次发布

路径规划专栏收录该内容

434 篇文章

订阅专栏

本文介绍了一段用于启动LynxAL5D机械臂仿真的MATLAB代码，并详细解释了如何配置仿真参数及使用硬件进行操作。包括设置关节显示、地面投影等功能。

1 简介

2 部分代码

function lynxStart(varargin)% lynxStart  Loads kinematic data for a Lynx AL5D manipulator and sets%   variables.%%   If using hardware:%   Starts the Lynx and moves the Lynx to its home position.%%   WARNING: Be aware of the Lynx's position before turning on the%   controller. To prevent damage, remove any objects in the path between%   the current position and the home position. If the Lynx is likely to%   slam into the table surface or other immovable object, manually move%   the Lynx towards the home position before using this command.%%     Options         Values {Default Value}%       'Hardware'      'Legend' | 'Lucky' | 'Lyric' | {'off'} Sets up the code to use the Lynx%                       hardware.  If hardware is enabled then there%                       is no visualization.  Default is simulation.%                       Be careful to read the above warning before%                       enabling hardware.%%       'Port'          string. e.g. 'com3'  -  The com port may change.%                       Go to Device manager on a PC to find the port.%                       To use the Lynx with a MAC, see instructions in%                       lynxInitializeHardware.m%%       'Joints'        {'on'} | 'off' Display the joints of the robot%%       'Frame'         {'on'} | 'off' Display the end effector frame%%       'Shadow'        {'on'} | 'off' Plot the shadow of the robot on the%                       ground plane%%       'Gripper'       'on' | {'off'} Plot the gripper.  Cool, but is it%                       really helpful?%%  Updated for MEAM 520, 2018. May still have a few bugs, so please let us%  know if you find any bugs.  And better yet, suggest how to fix it =)global lynx pennkeysaddpath('utils')%%SET THISpennkeys = 'sol';robot_spec_file = 'utils/robot_specs.json';file_spec = fopen(robot_spec_file);jsobj = jsondecode(fscanf(file_spec, '%c', inf));fclose(file_spec);lynx.param = jsobj.('Simulation');lynx.servoTimeStamp = tic;lynx.lidarTimeStamp = tic;lynx.firstFrame = true;lynx.showFrame = true;lynx.showJoints = true;lynx.showShadow = true;lynx.showGripper = false;lynx.hardware_on = false;% Home poselynx.q = [0,0,0,0,0,0];% Check property inputs is even (each property must be paired with a value)if mod(size(varargin,2), 2) == 1    error('Must be a value for each property set')endfor j = 1:2:size(varargin,2)    % Use the Lynx hardware or simulation    if strcmpi(varargin{1,j}, 'Hardware')        hardware_config = varargin{1,j+1};        if strcmpi(hardware_config, 'off')            lynx.hardware_on = false;        elseif strcmpi(hardware_config, 'Legend') || ...               strcmpi(hardware_config, 'Lucky')  || ...               strcmpi(hardware_config, 'Loopy')  || ...               strcmpi(hardware_config, 'Lyric')            lynx.hardware_on = true;            lynx.param = jsobj.(hardware_config);        else            error('Invalid value for Hardware property');        end    elseif strcmpi(varargin{1,j}, 'Port')        lynx.serialPort = varargin{1,j+1};    elseif strcmpi(varargin{1,j}, 'Joints')        if strcmpi(varargin{1,j+1}, 'off')            lynx.showJoints = false;        elseif strcmpi(varargin{1,j+1}, 'on')            lynx.showJoints = true;        else            error('Invalid value for Joints property');        end    elseif strcmpi(varargin{1,j}, 'Frame')        if strcmpi(varargin{1,j+1}, 'off')            lynx.showFrame = false;        elseif strcmpi(varargin{1,j+1}, 'on')            lynx.showFrame = true;        else            error('Invalid value for Frame property');        end    elseif strcmpi(varargin{1,j}, 'Shadow')        if strcmpi(varargin{1,j+1}, 'off')            lynx.showShadow = false;        elseif strcmpi(varargin{1,j+1}, 'on')            lynx.showShadow = true;        else            error('Invalid value for Shadow property');        end    elseif strcmpi(varargin{1,j}, 'Gripper')        if strcmpi(varargin{1,j+1}, 'off')            lynx.showGripper = false;        elseif strcmpi(varargin{1,j+1}, 'on')            lynx.showGripper = true;        else            error('Invalid value for Gripper property');        end    endend% Initialize the Lynx if using hardwareif lynx.hardware_on    % Display warning message    str = input(['Warning: Be aware of the Lynx''s position before continuing.\n'...        'Hold the lynx as close to the home position as possible.\n' ...        'Do you want to continue (y/n)?\n'],'s');    if isempty(str)        str = 'n';    end    if strcmpi(str, 'y') || strcmpi(str, 'yes')        %Opens serial communication with the lynx        %serialPort is a string. e.g. 'com3'        %The com port may change.  Go to Device manager on a PC to find the port.        %Close any previous communication.        delete(instrfindall);        %Alternatively, on a MAC,        %ttl = serial('/dev/cu.usbserial-AI0484D4');        %Note that the portion after the hypen depends on the usb cable.  Type        %ls /dev/cu.* into the command line to find this name.        lynx.serialPort = serial(lynx.serialPort, 'BaudRate', 115200, 'Terminator', 'CR');        fopen(lynx.serialPort);        if(~strcmp(lynx.serialPort.Status,'open'))            error('Please connect the Lynx robot via the USB port');        end        % send a handshaking frame        % if lynx.controlBoard == 'botboarduino'            % fprintf(lynx.serialPort, '%s\r', 'tick')        % end    else        disp('Start cancelled.');    end% Initialize the plot if using simulationelse    plotLynx(lynx.q);end% Set global variables in the base workspaceevalin('base', 'global lynx pennkeys')%Send the robot to a home configurationlynxServo(lynx.q);